src/main/java/frc/robot/RobotContainer.java

@@ -49,8 +49,10 @@ import frc.robot.commands.requin.BalayeuseAlgue;
 import frc.robot.commands.requin.BalayeuseBas;
 import frc.robot.commands.requin.BalayeuseCoral;
 import frc.robot.commands.requin.BalayeuseHaut;
-import frc.robot.commands.requin.ExpireCorail;
+import frc.robot.commands.requin.ExpireAlgue;
 import frc.robot.commands.requin.L1Requin;
+import frc.robot.commands.requin.aspire;
+import frc.robot.commands.requin.exspire;
 import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Elevateur;
@@ -59,7 +61,6 @@ import frc.robot.subsystems.Limelight3;
 import frc.robot.subsystems.Limelight3G;
 import frc.robot.subsystems.Pince;
 import frc.robot.subsystems.Requin;
-import frc.robot.commands.requin.exspire;
 
 public class RobotContainer {
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
@@ -122,9 +123,9 @@ public class RobotContainer {
     //pince
     manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
     manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
-    manette1.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
-    manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
-    manette1.povRight().whileTrue(new CoralExpire(pince, bougie));
+    manette1.povRight().whileTrue(new AlgueExpire(pince, bougie));
+    manette2.a().whileTrue(new CorailAspir(pince,bougie));
+    manette2.b().whileTrue(new Algue_inspire(pince,bougie));
      //elevateur
      manette1.a().whileTrue(new Depart(elevateur, pince));
      manette1.b().whileTrue(new L2(elevateur,pince));
@@ -132,22 +133,15 @@ public class RobotContainer {
      manette1.y().whileTrue(new L4(elevateur, pince));
 
             /* Manette 2 */
-    manette2.a().whileTrue(new CorailAspir(pince,bougie));
-    manette2.b().whileTrue(new Algue_inspire(pince,bougie));
     //requin
-    manette2.rightBumper().whileTrue(new BalayeuseAlgue(requin,bougie));
-    manette2.leftBumper().whileTrue(new L1Requin(requin, bougie));
-    manette2.rightTrigger().whileTrue(new BalayeuseHaut(requin));
+    manette1.leftTrigger().whileTrue(new exspire(requin, bougie));
+    manette2.y().whileTrue(new BalayeuseAlgue(requin,bougie));
+    manette2.x().whileTrue(new BalayeuseHaut(requin));
+    manette2.rightTrigger().whileTrue(new ExpireAlgue(requin, bougie));
     manette2.leftTrigger().whileTrue(new BalayeuseCoral(requin, bougie));
-    manette2.y().whileTrue(new exspire(requin, bougie));
-    manette2.x().whileTrue(new ExpireCorail(requin, bougie));
-   
-   
-    //grimpeur
-    manette2.povDown().whileTrue(new GrimpeurManuelhaut(Grimpeur, bougie));
-    manette2.povLeft().whileTrue(new GrimperHaut(Grimpeur, bougie));
-    manette2.povRight().whileTrue(new GrimpeurBas(Grimpeur));
-     //Pince manuel
+    manette1.povUp().whileTrue(new L1Requin(requin, bougie));
+    manette2.povUp().whileTrue(new aspire(requin, bougie));
+     //Pince manuelle
      pince.setDefaultCommand(new RunCommand(()->{
       pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05));
     }, pince));
@@ -158,9 +152,16 @@ public class RobotContainer {
     }, elevateur));
 
     //limelight
-     manette2.povUp().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
+    manette2.leftBumper().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
+    manette2.rightBumper().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
+    manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
+
     //Reset encodeur
     manette2.start().whileTrue(new reset(elevateur, pince));
+    //grimpeur
+    manette2.povDown().whileTrue(new GrimpeurManuelhaut(Grimpeur, bougie));
+    manette2.povLeft().whileTrue(new GrimperHaut(Grimpeur, bougie));
+    manette2.povRight().whileTrue(new GrimpeurBas(Grimpeur));
   }
     
     public Command getAutonomousCommand() {

src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java

@@ -27,7 +27,7 @@ public class BalayeuseAlgue extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-     if(requin.encodeur()<=715 &&  requin.encodeur()>=670)
+     if(requin.encodeur()<=715 &&  requin.encodeur()>=700)
      {
        requin.rotationer(0);
        if(requin.amp()> 60){
@@ -40,10 +40,10 @@ public class BalayeuseAlgue extends Command {
       }
      }
      else if(requin.encodeur()>=700){
-     requin.rotationer(-0.5);
+     requin.rotationer(0.5);
      }
      else{
-      requin.rotationer(0.5);
+      requin.rotationer(-0.5);
      }
     
    }

src/main/java/frc/robot/commands/requin/BalayeuseCoral.java

@@ -27,7 +27,7 @@ public class BalayeuseCoral extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-     if(requin.encodeur()<=1200 &&  requin.encodeur()>=1025){
+     if(requin.encodeur()<=1200 &&  requin.encodeur()>=1050){
        requin.rotationer(0);
       if(requin.amp()>60){
       requin.balaye(0);

src/main/java/frc/robot/commands/requin/ExpireAlgue.java

@@ -9,11 +9,12 @@ import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Requin;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class ExpireCorail extends Command {
+public class ExpireAlgue extends Command {
   private Requin requin;
   private Bougie bougie;
   /** Creates a new ExpireAlgue. */
-  public ExpireCorail(Requin requin, Bougie bougie) {
+  public ExpireAlgue(Requin requin, Bougie bougie
+  ) {
     this.requin = requin;
     this.bougie = bougie;
     addRequirements(requin,bougie);

src/main/java/frc/robot/commands/requin/L1Requin.java

@@ -30,6 +30,13 @@ public class L1Requin extends Command {
     
     if(requin.encodeur()<=645 &&  requin.encodeur()>=600){
       requin.rotationer(0);
+      if(requin.amp()>60){
+      requin.balaye(-0.5);
+    }
+        else{
+          requin.balaye(0); 
+          bougie.Rouge();
+      }
     }
     else if(requin.encodeur()>=645){
     requin.rotationer(-0.5);
@@ -37,6 +44,10 @@ public class L1Requin extends Command {
     else{
       requin.rotationer(0.5);
     }
+    
+    
+      
+    
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/requin/aspire.java

@@ -0,0 +1,51 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.requin;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
+import frc.robot.subsystems.Requin;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class aspire extends Command {
+  /** Creates a new aspire. */
+  private Requin requin;
+  private Bougie bougie;
+  public aspire(Requin requin, Bougie bougie) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.requin = requin;
+    this.bougie = bougie;
+    addRequirements(requin, bougie);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(requin.amp()> 60){
+      requin.balaye(0);
+      bougie.Vert();
+    }
+     else
+     {
+          requin.balaye(-0.5);
+     }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/requin/exspire.java

@@ -29,7 +29,14 @@ public class exspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-   requin.balaye(0.5);
+    if(requin.amp()> 60){
+      requin.balaye(0.5);
+    }
+     else
+     {
+          bougie.Rouge();
+          requin.balaye(0.5);
+     }
   }
 
   // Called once the command ends or is interrupted.